Normalized graph cuts for visual SLAM

Simultaneous Localization and Mapping (SLAM) suffers from a quadratic space and time complexity per update step. Recent advancements have been made in approximating the posterior by forcing the information matrix to remain sparse as well as exact techniques for generating the posterior in the full SLAM solution to both the trajectory and the map. Current approximate techniques for maintaining an online estimate of the map for a robot to use while exploring make capacity-based decisions about when to split into sub-maps. This paper will describe an alternative partitioning strategy for online approximate real-time SLAM which makes use of normalized graph cuts to remove less information from the full map.

[1]  Benjamin Kuipers,et al.  The Spatial Semantic Hierarchy , 2000, Artif. Intell..

[2]  Frank Dellaert,et al.  iSAM: Incremental Smoothing and Mapping , 2008, IEEE Transactions on Robotics.

[3]  Jitendra Malik,et al.  Normalized cuts and image segmentation , 1997, Proceedings of IEEE Computer Society Conference on Computer Vision and Pattern Recognition.

[4]  Edwin Olson,et al.  Single-Cluster Spectral Graph Partitioning for Robotics Applications , 2005, Robotics: Science and Systems.

[5]  Jean-Paul Laumond,et al.  Position referencing and consistent world modeling for mobile robots , 1985, Proceedings. 1985 IEEE International Conference on Robotics and Automation.

[6]  Juan D. Tardós,et al.  Data association in stochastic mapping using the joint compatibility test , 2001, IEEE Trans. Robotics Autom..

[7]  Frank Dellaert,et al.  Fast Incremental Square Root Information Smoothing , 2007, IJCAI.

[8]  H. Durrant-Whyte,et al.  Simultaneous Localisation and Mapping ( SLAM ) : Part II State of the Art , 2006 .

[9]  Frank Dellaert,et al.  Tectonic SAM: Exact, Out-of-Core, Submap-Based SLAM , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

[10]  Ian D. Reid,et al.  Mapping Large Loops with a Single Hand-Held Camera , 2007, Robotics: Science and Systems.

[11]  Ieee Xplore,et al.  IEEE Transactions on Pattern Analysis and Machine Intelligence Information for Authors , 2022, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[12]  Michael Bosse,et al.  An Atlas framework for scalable mapping , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[13]  Hugh Durrant-Whyte,et al.  Simultaneous localization and mapping (SLAM): part II , 2006 .

[14]  Juan D. Tardós,et al.  Hierarchical SLAM: real-time accurate mapping of large environments , 2005, IEEE Transactions on Robotics.

[15]  Eduardo Mario Nebot,et al.  Optimization of the simultaneous localization and map-building algorithm for real-time implementation , 2001, IEEE Trans. Robotics Autom..

[16]  Andrew J. Davison,et al.  Mobile Robot Navigation Using Active Vision , 1998 .

[17]  Frank Dellaert,et al.  Incremental smoothing and mapping , 2008 .

[18]  Andrew J. Davison,et al.  Real-time simultaneous localisation and mapping with a single camera , 2003, Proceedings Ninth IEEE International Conference on Computer Vision.

[19]  David W. Murray,et al.  Simultaneous Localization and Map-Building Using Active Vision , 2002, IEEE Trans. Pattern Anal. Mach. Intell..

[20]  W MurrayDavid,et al.  Simultaneous Localization and Map-Building Using Active Vision , 2002 .

[21]  James L. Crowley,et al.  World modeling and position estimation for a mobile robot using ultrasonic ranging , 1989, Proceedings, 1989 International Conference on Robotics and Automation.

[22]  Peter Cheeseman,et al.  On the Representation and Estimation of Spatial Uncertainty , 1986 .

[23]  Javier Civera,et al.  Unified Inverse Depth Parametrization for Monocular SLAM , 2006, Robotics: Science and Systems.

[24]  Javier González,et al.  Consistent observation grouping for generating metric-topological maps that improves robot localization , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..

[25]  Olivier Stasse,et al.  MonoSLAM: Real-Time Single Camera SLAM , 2007, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[26]  John J. Leonard,et al.  Robust Mapping and Localization in Indoor Environments Using Sonar Data , 2002, Int. J. Robotics Res..

[27]  Hugh F. Durrant-Whyte,et al.  Simultaneous localization and mapping: part I , 2006, IEEE Robotics & Automation Magazine.

[28]  Javier González,et al.  Toward a Unified Bayesian Approach to Hybrid Metric--Topological SLAM , 2008, IEEE Transactions on Robotics.

[29]  Hugh Durrant-Whyte,et al.  Simultaneous Localisation and Mapping ( SLAM ) : Part I The Essential Algorithms , 2006 .

[30]  Frank Dellaert,et al.  Square Root SAM: Simultaneous Localization and Mapping via Square Root Information Smoothing , 2006, Int. J. Robotics Res..

[31]  Henrik I. Christensen,et al.  Graphical SLAM - a self-correcting map , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.